#include  <iostream>
#include <string>
#include <ros/ros.h>
#include "util/logger.h"
#include "task_process/lidar_point_cloud_correct.h"
using namespace toolkit;
using namespace std;

int main(int argc, char *argv[])
{
    ros::init(argc, argv, "lidar_detect");
    ros::NodeHandle lidar_node_;
    Logger::Instance().add(std::make_shared<FileChannel>());
    Logger::Instance().add(std::make_shared<ConsoleChannel> ());
    Logger::Instance().setWriter(std::make_shared<AsyncLogWriter>());

    if(!lidar_node_.ok())
        return 0;
    ros::AsyncSpinner spinner(10);
    spinner.start();

    LidarPointCloudCorrect lidar_point_cloud_process(&lidar_node_);
    lidar_point_cloud_process.init();
    lidar_point_cloud_process.process();
    ros::waitForShutdown();
    spinner.stop();
}
